CN113682710A - Cache device, warehouse-in and warehouse-out system and warehouse-in and warehouse-out method - Google Patents
Cache device, warehouse-in and warehouse-out system and warehouse-in and warehouse-out method Download PDFInfo
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- CN113682710A CN113682710A CN202110976916.0A CN202110976916A CN113682710A CN 113682710 A CN113682710 A CN 113682710A CN 202110976916 A CN202110976916 A CN 202110976916A CN 113682710 A CN113682710 A CN 113682710A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
- B65G1/127—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like the circuit being confined in a vertical plane
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention relates to the technical field of warehouse logistics, in particular to a cache device, an in-out warehouse system and an in-out warehouse method. The cache device includes: the frame comprises two vertical moving channels which are distributed at intervals along a first horizontal direction and two horizontal moving channels which are respectively connected to the upper end and the lower end of each vertical moving channel, and the two vertical moving channels and the two horizontal moving channels form a circulating moving channel; the trolleys can move along the circulating moving channel under the driving of the driving device; and the conveying device is arranged on the trolley and is used for unloading the goods on the transfer robot and conveying the goods to the transfer robot. According to the invention, the circulating moving channel is arranged, and the trolley circularly moves in the circulating moving channel, so that the goods to be delivered out of the warehouse can be simultaneously conveyed to the delivery conveying line and received by the delivery conveying line, thereby reducing the waiting time of the transfer robot and improving the transfer efficiency.
Description
Technical Field
The invention relates to the technical field of warehouse logistics, in particular to a cache device and a warehouse entry and exit method and a warehouse exit and entry system.
Background
The intelligent storage is an important link in the logistics process, the transfer robot plays an important role in the intelligent storage, the transfer robot can transfer goods from the fixed goods shelf to the buffer device, and then the buffer device transfers the goods to the corresponding delivery line; or after the buffer device receives the goods conveyed by the warehousing conveying line, the transfer robot receives the goods in the buffer device and transfers the goods to the fixed shelf.
The prior art provides a buffer memory device, including grudging post and a plurality of loading and unloading goods subassembly, the grudging post extends along vertical direction, and a plurality of loading and unloading goods subassemblies set up in the grudging post along vertical direction interval, and a plurality of loading and unloading goods subassemblies can be respectively on the height of difference to transfer robot transport goods or will transfer robot on the goods lift off. The defects in the prior art are that the transfer robot waits for goods loading before the buffer device after unloading the goods to the buffer device, and links such as conveying the goods to an ex-warehouse conveying line and receiving the goods conveyed by an in-warehouse conveying line need to be carried out through the buffer device in the process, so that the transfer robot wastes a long time, and the working efficiency is low.
Disclosure of Invention
The invention aims to provide a buffer device, an in-out system and an in-out method, which can reduce the waiting time of a transfer robot and improve the transfer efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a caching apparatus, comprising:
the frame comprises two vertical moving channels which are distributed at intervals along a first horizontal direction and two horizontal moving channels which are respectively connected to the upper end and the lower end of each vertical moving channel, and the two vertical moving channels and the two horizontal moving channels form a circulating moving channel;
the trolleys can move along the circulating moving channel under the driving of the driving device;
and the conveying device is arranged on the trolley and is used for unloading the goods on the transfer robot and conveying the goods to the transfer robot.
As a preferable technical solution of the cache device, the cart includes:
a frame;
the two first transmission shafts are both rotationally connected with the frame;
and the four travelling wheels are respectively connected to the four end parts of the two first transmission shafts.
As a preferable technical solution of the buffer device, the driving device includes:
the first driving motor is arranged on the frame, a first driving wheel is arranged on an output shaft of the first driving motor, and a first driven wheel is arranged on one first transmission shaft;
the first transmission belt is wound on the first driving wheel and the first driven wheel;
the two first driving wheels are respectively arranged on the two first driving shafts;
and the second transmission belt is wound on the two first transmission wheels.
As a preferable technical solution of the buffer device, the transport device includes:
the frame is in a concave shape and comprises two side plates and a bottom plate connected between the two side plates, one end of the cantilever is fixed on the bottom plate, the other end of the cantilever extends towards the gap direction of the frame, and the fixed end and the hanging end of each cantilever are rotatably provided with a second driving wheel;
the third transmission belt is wound on the two second transmission wheels;
and the driving component is used for driving the third transmission belt to transmit.
As a preferred technical scheme of the buffer device, the number of the cantilevers is two, two the cantilevers are distributed at intervals between the two side plates, each of the fixed ends and the hanging ends of the cantilevers is provided with a second driving wheel, and the two second driving wheels of the cantilevers are provided with the third driving belt in a winding manner.
As a preferable technical solution of the buffer apparatus, the driving unit includes:
the second driving motor is arranged on the side plate, and a second driving wheel is arranged on an output shaft of the second driving motor;
the second transmission shaft is rotatably connected with the frame, the second transmission wheels positioned at the fixed end of the cantilever are arranged on the second transmission shaft, and a second driven wheel is arranged on the second transmission shaft;
and the fourth transmission belt is wound on the second driving wheel and the second driven wheel.
As a preferred technical scheme of the cache device, the vertical moving channel is composed of four vertical guide rails arranged in a square or rectangular shape, the horizontal moving channel is composed of two horizontal guide rails arranged at intervals along a second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, one of the horizontal guide rails is simultaneously connected with four vertical guide rails positioned on one side along the second horizontal direction in the two vertical moving channels, and the other horizontal guide rail is simultaneously connected with four vertical guide rails positioned on the other side along the second horizontal direction in the two vertical moving channels;
when the trolley moves in the vertical moving channel, the four travelling wheels of the trolley are respectively matched with the four vertical guide rails in a one-to-one correspondence manner; when the trolley moves in the horizontal moving channel, the four walking wheels form a group in pairs, and the two groups of walking wheels are respectively matched with the two horizontal guide rails in a one-to-one correspondence mode.
As the preferable technical scheme of the buffer device, the walking wheels are gears, and the vertical guide rail and the horizontal guide rail are racks.
The warehouse entry and exit system comprises the caching device in any scheme, and further comprises a transfer robot, a warehouse entry conveying line and a warehouse exit conveying line, wherein the transfer robot is used for unloading goods to the trolley or receiving the goods conveyed by the trolley; the warehousing conveying line and the ex-warehouse conveying line are respectively in one-to-one correspondence with the two vertical moving channels, and the warehousing conveying line and the ex-warehouse conveying line can be in butt joint with the horizontal moving channels positioned at the lower ends of the two vertical moving channels.
As a preferable embodiment of the loading and unloading system, the transfer robot includes:
a walking chassis;
the vertical frame is arranged on the walking chassis;
and the plurality of goods shelves are arranged on the vertical frame at intervals along the height direction of the vertical frame.
As a preferable technical scheme of the warehouse-in and warehouse-out system, the goods shelf comprises two supporting rods arranged at intervals, and the supporting rods extend and are distributed along the direction vertical to the vertical frame.
An access method applied to the access system according to any one of the above aspects, the access method comprising the steps of:
the carrying robot unloads the goods to be delivered out of the warehouse to a trolley in a vertical moving channel opposite to the delivery conveying line;
the trolleys in the two vertical moving channels move along the circulating channel to exchange positions, and when the trolleys in the vertical moving channel opposite to the delivery conveying line move to the vertical moving channel opposite to the warehousing conveying line, the trolleys are conveyed to the delivery conveying line for delivery, and then the cargos to be warehoused, which are conveyed by the warehousing conveying line, are received;
and the transfer robot receives the goods on the trolley in the vertical moving channel opposite to the warehousing conveying line and transfers the goods into a warehouse.
The invention has the beneficial effects that:
according to the caching device provided by the invention, the circulating moving channel is arranged, and the trolley moves in the circulating moving channel in a circulating manner, so that the caching device can simultaneously convey goods to be delivered out of a warehouse to the delivery conveying line and receive the goods to be delivered in the warehouse conveyed by the warehousing conveying line, the waiting time of a conveying robot is reduced, and the conveying efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of an in-out warehouse system provided in the present invention;
fig. 2 is a schematic structural view of a transfer robot provided in the present invention;
FIG. 3 is a front view of a cache apparatus provided by the present invention;
FIG. 4 is a schematic structural view of a frame provided by the present invention;
FIG. 5 is a first schematic structural view of the cart provided by the present invention;
FIG. 6 is a second schematic structural view of the cart provided by the present invention.
In the figure:
10. a transfer robot; 11. a walking chassis; 12. erecting a frame; 13. a shelf;
20. a cache device; 21. a vertical movement path; 211. a vertical guide rail; 22. a horizontal movement path; 221. a horizontal guide rail; 23. a trolley; 231. a frame; 2311. a side plate; 2312. a base plate; 232. a first drive shaft; 233. a traveling wheel; 241. a first drive motor; 242. a first drive wheel; 243. a first driven wheel; 244. a first drive belt; 245. a first drive pulley; 246. a second belt; 251. a cantilever; 252. a second transmission wheel; 253. a third belt; 254. a second drive motor; 255. a second drive wheel; 256. a second drive shaft; 257. a second driven wheel; 258. a fourth belt;
30. a delivery line for delivery;
40. warehousing and conveying lines;
100. and (7) cargo.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings and the embodiment. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The intelligent storage is an important link in the logistics process, the transfer robot plays an important role in the intelligent storage, the transfer robot can transfer goods from the fixed goods shelf to the buffer device, and then the buffer device transfers the goods to the corresponding delivery line; or after the buffer device receives the goods conveyed by the warehousing conveying line, the transfer robot receives the goods in the buffer device and transfers the goods to the fixed shelf.
The prior art provides a buffer memory device, including grudging post and a plurality of loading and unloading goods subassembly, the grudging post extends along vertical direction, and a plurality of loading and unloading goods subassemblies set up in the grudging post along vertical direction interval, and a plurality of loading and unloading goods subassemblies can be respectively on the height of difference to transfer robot transport goods or will transfer robot on the goods lift off. The defects in the prior art are that the transfer robot waits for goods loading before the buffer device after unloading the goods to the buffer device, and needs to convey the goods to the ex-warehouse conveying line through the buffer device and then receive the goods conveyed by the in-warehouse conveying line, so that the transfer robot wastes a long time, and the working efficiency is low.
In view of the above problems, the present invention provides an in-out system, as shown in fig. 1, including a transfer robot 10, a buffer device 20, an in-storage conveyor line 40, and an out-storage conveyor line 30. Referring to fig. 2, the transfer robot 10 includes a traveling chassis 11, a stand 12, and shelves 13, the stand 12 is disposed on the traveling chassis 11, and the shelves 13 are arranged at intervals in a height direction of the stand 12. The buffer device 20 comprises a frame, a trolley 23, a driving device and a conveying device, wherein, referring to fig. 3, the frame comprises two vertical moving channels 21 distributed at intervals along a first horizontal direction and two horizontal moving channels 22 respectively connected to the upper and lower ends of the two vertical moving channels 21, and the two vertical moving channels 21 and the two horizontal moving channels 22 form a circulating moving channel; the plurality of trolleys 23 can move along the circular moving channel under the driving of the driving device; a conveying device is provided on the cart 23, and the conveying device is used to unload the cargo 100 on the transfer robot 10 or convey the cargo 100 to the transfer robot 10. It will be appreciated that the cargo 100 may be transported directly or may be placed in a container such as a bin or pallet for transport. The warehousing conveyor line 40 and the ex-warehouse conveyor line 30 correspond to the two vertical moving channels 21 one to one, respectively, and the warehousing conveyor line 40 and the ex-warehouse conveyor line 30 can be butted against the horizontal moving channel 22 located at the lower ends of the two vertical moving channels 21.
Specifically, referring to fig. 4, the vertical moving channel 21 is composed of four vertical guide rails 211 arranged in a square or rectangular shape, the horizontal moving channel 22 is composed of two horizontal guide rails 221 arranged at intervals along a second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, one of the horizontal guide rails 221 is simultaneously connected with four vertical guide rails 211 located on one side along the second horizontal direction in the two vertical moving channels 21, and the other horizontal guide rail 221 is simultaneously connected with four vertical guide rails 211 located on the other side along the second horizontal direction in the two vertical moving channels 21. Referring to fig. 5 and 6, the trolley 23 includes a frame 231, two first transmission shafts 232 and four road wheels 233, wherein the two first transmission shafts 232 are both rotatably connected with the frame 231; the four traveling wheels 233 are connected to four ends of the two first transmission shafts 232, respectively. When the trolley 23 moves in the vertical moving channel 21, the four traveling wheels 233 of the trolley 23 are respectively matched with the four vertical guide rails 211 in a one-to-one correspondence manner; when the trolley 23 moves in the horizontal moving channel 22, the four traveling wheels 233 form a group in pairs, and the two groups of the traveling wheels 233 are respectively matched with the two horizontal guide rails 221 in a one-to-one correspondence manner. The angle of the trolley 23 can be kept constant while moving in the circulation path to more smoothly carry the cargo 100. Preferably, the road wheels 233 are gears, and the vertical guide rail 211 and the horizontal guide rail 221 are racks. The switching of the trolley 23 between the vertical moving passage 21 and the horizontal moving passage 22 can adopt the existing rail changing structure, and is not described in detail here.
Referring to fig. 5, the driving device includes a first driving motor 241, a first driving wheel 242, a first driven wheel 243, a first transmission belt 244, two first transmission wheels 245 and a second transmission belt 246, wherein the first driving motor 241 is disposed on the frame 231, preferably on the lower end of the frame 231, the first driving wheel 242 is disposed on the output shaft of the first driving motor 241, and the first driven wheel 243 is disposed on one of the first transmission shafts 232; a first driving belt 244 is wound around the first driving pulley 242 and the first driven pulley 243; the two first driving wheels 245 are respectively arranged on the two first driving shafts 232; the second belt 246 is wound around the two first driving wheels 245. The first driving motor 241 can drive one of the first transmission shafts 232 to rotate through the first driving wheel 242, the first driven wheel 243 and the first transmission belt 244, and the first transmission shaft 232 can drive the other first transmission shaft 232 to rotate simultaneously through the first transmission wheel 245 and the second transmission belt 246, so that the traveling wheels 233 arranged at the end portions of the first transmission shafts 232 can rotate to travel. The driving mode is simple and reliable.
Referring to fig. 6, the conveying device includes a cantilever 251, a second driving wheel 252 and a third driving belt 253, wherein the frame 231 is in a concave shape and includes two side plates 2311 and a bottom plate 2312 connected between the two side plates 2311, one end of the cantilever 251 is fixed to the bottom plate 2312, the other end of the cantilever 251 extends towards the gap of the frame 231, the fixed end and the suspended end of each cantilever 251 are rotatably provided with the second driving wheel 252, the third driving belt 253 is wound on the two second driving wheels 252, and the driving assembly can drive the third driving belt 253 to drive. When the transfer robot 10 unloads the goods 100 onto the cart 23, the transfer robot 10 will move to make the cantilever 251 extend into the lower part of the shelf 13, at this time, the cantilever 251 and the shelf 13 of the transfer robot 10 are in a cross state, and then the cart 23 is driven by the driving device to ascend for a certain distance, so as to transfer the goods 100 onto the cart 23; when the cart 23 transfers the goods to the transfer robot 10, the transfer robot 10 moves such that the rack 13 of the transfer robot 10 extends below the arm 251, the rack 13 of the transfer robot 10 and the arm 251 are in a crossing state, and then the driving device drives the cart 23 to descend by a predetermined distance, thereby transferring the goods 100 to the rack 13 of the transfer robot 10. When the trolley 23 with the goods 100 moves to be in butt joint with the delivery conveyor line 30, the driving component drives the third driving belt 253 to drive clockwise (or anticlockwise) so as to transfer the goods 100 on the trolley 23 to the delivery conveyor line 30; or when the trolley 23 runs empty to be in butt joint with the warehousing conveyor line 40, the driving component drives the third driving belt 253 to drive counterclockwise (or clockwise) so as to transfer the goods 100 of the warehousing conveyor line 40 to the trolley 23. Preferably, the number of the cantilevers 251 is two, two cantilevers 251 are spaced between the two side plates 2311, a fixed end and a hanging end of each cantilever 251 are provided with a second driving wheel 252, and a third driving belt 253 is wound on the two second driving wheels 252 of the same cantilever 251. Making the loading and transport of cargo 100 more stable.
With continued reference to fig. 6, the driving assembly includes a second driving motor 254, a second driving wheel 255, a second transmission shaft 256, a second driven wheel 257 and a fourth transmission belt 258, wherein the second driving motor 254 is disposed on the side plate 2311 of the frame 231, and the output shaft of the second driving motor 254 is disposed with the second driving wheel 255; the second transmission shaft 256 is rotatably connected with the frame 231, two second transmission wheels 252 positioned at the fixed ends of the two cantilevers 251 are arranged on the second transmission shaft 256, and a second driven wheel 257 is further arranged on the second transmission shaft 256; a fourth belt 258 is wound around the second driving pulley 255 and the second driven pulley 257. The second driving motor 254 can drive the second transmission shaft 256 to rotate through the second driving wheel 255, the second driven wheel 257 and the fourth transmission belt 258, and then the second transmission shaft 256 drives the third transmission belt 253 to transmit. The driving mode is simple and reliable.
The warehouse entry and exit method of the warehouse entry and exit system provided by the invention comprises the following steps:
first, the transfer robot 10 discharges the goods 100 to be delivered onto the cart 23 in the vertical moving path 21 opposite to the delivery line 30.
It should be noted that, in the initial state, the number of the carts 23 in the two vertical moving lanes 21 is equal to the number of the racks 13 on the transfer robot 10, so that the transfer robot 10 can place all the goods 100 in the vertical moving lanes 21 or receive all the goods 100 in the vertical moving lanes 21, and after the carts 23 in the two vertical moving lanes 21 are exchanged, can also place all the goods 100 in the vertical moving lanes 21 or receive all the goods 100 in the vertical moving lanes 21.
Secondly, the trolleys 23 in the two vertical moving channels 21 move along the circulating channel to exchange positions, and in the process that the trolleys 23 in the vertical moving channel 21 opposite to the delivery conveying line 30 move to the vertical moving channel 21 opposite to the warehousing conveying line 40, the cargos 100 carried by the trolleys are conveyed to the delivery conveying line 30 for delivery, and then the cargos 100 to be warehoused conveyed by the warehousing conveying line 40 are received.
It should be noted that, after the position of the cart 23 in the two vertical moving paths 21 is exchanged, the cart in the vertical moving path 21 opposite to the warehousing conveying line 40 is fully loaded with the goods to be warehoused, and the cart in the vertical moving path 21 opposite to the delivery conveying line 30 is in an empty state.
Finally, the transfer robot 10 receives the goods 100 on the cart 23 in the vertical moving passage 21 opposite to the warehousing-in conveyor line 40 and transfers them to the warehouse;
the transfer robot 10 transfers the goods 100 to be delivered to the buffer device 20 again, and discharges the goods 100 to be delivered to the cart 23 of the vertical moving passage 21 opposite to the delivery line 30, and thus, the delivery of the goods 100 is performed repeatedly.
Through setting up the circulation moving channel to through a plurality of dollies 23 at the circulation moving channel internal circulation removal, make this buffer memory device 20 can be simultaneously with the goods that wait to leave warehouse to the delivery transfer chain and receive the goods that wait to put in warehouse that puts in warehouse the transfer chain and carry, thereby reduce transfer robot 10's latency, improved handling efficiency.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (12)
1. A cache apparatus, comprising:
the frame comprises two vertical moving channels (21) which are distributed at intervals along a first horizontal direction and two horizontal moving channels (22) which are respectively connected to the upper end and the lower end of each of the two vertical moving channels (21), and the two vertical moving channels (21) and the two horizontal moving channels (22) form a circulating moving channel;
a plurality of trolleys (23) which can move along the circulating moving channel under the driving of a driving device;
and a conveying device which is arranged on the trolley (23) and is used for unloading the goods (100) on the transfer robot (10) and conveying the goods (100) to the transfer robot (10).
2. A buffer device according to claim 1, wherein the trolley (23) comprises:
a frame (231);
the two first transmission shafts (232) are both rotationally connected with the frame (231);
and the four travelling wheels (233) are respectively connected with the four end parts of the two first transmission shafts (232).
3. The buffer device according to claim 2, wherein the driving device comprises:
the first driving motor (241) is arranged on the frame (231), an output shaft of the first driving motor (241) is provided with a first driving wheel (242), and one first transmission shaft (232) is provided with a first driven wheel (243);
a first transmission belt (244) wound around the first driving pulley (242) and the first driven pulley (243);
two first transmission wheels (245) respectively arranged on the two first transmission shafts (232);
and a second transmission belt (246) wound around the two first transmission wheels (245).
4. The buffer device according to claim 2, wherein the transport device comprises:
the frame (231) is in a concave shape and comprises two side plates (2311) and a bottom plate (2312) connected between the two side plates (2311), one end of the cantilever (251) is fixed to the bottom plate (2312), the other end of the cantilever (251) extends towards the gap direction of the frame (231), and the fixed end and the hanging end of each cantilever (251) are respectively and rotatably provided with a second transmission wheel (252);
the third transmission belt (253) is wound on the two second transmission wheels (252);
and the driving assembly is used for driving the third driving belt (253) to transmit.
5. The buffer apparatus according to claim 4, wherein the number of the cantilevers (251) is two, two cantilevers (251) are spaced between two side plates (2311), a fixed end and a hanging end of each cantilever (251) are provided with a second driving wheel (252), and the two second driving wheels (252) of the same cantilever (251) are wound with the third driving belt (253).
6. The cache device according to claim 4 or 5, wherein the driving assembly comprises:
the second driving motor (254) is arranged on the side plate (2311), and a second driving wheel (255) is arranged on an output shaft of the second driving motor (254);
the second transmission shaft (256) is rotatably connected with the frame (231), the second transmission wheels (252) positioned at the fixed end of the cantilever (251) are arranged on the second transmission shaft (256), and a second driven wheel (257) is arranged on the second transmission shaft (256);
and a fourth transmission belt (258) wound on the second driving wheel (255) and the second driven wheel (257).
7. The buffer device according to claim 2, wherein the vertical moving channel (21) is composed of four vertical guide rails (211) arranged in a square or rectangular shape, the horizontal moving channel (22) is composed of two horizontal guide rails (221) arranged at intervals along a second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, one of the horizontal guide rails (221) is simultaneously connected with four vertical guide rails (211) of the two vertical moving channels (21) located at one side along the second horizontal direction, and the other horizontal guide rail (221) is simultaneously connected with four vertical guide rails (211) of the two vertical moving channels (21) located at the other side along the second horizontal direction;
when the trolley (23) moves in the vertical moving channel (21), the four traveling wheels (233) of the trolley (23) are respectively matched with the four vertical guide rails (211) in a one-to-one correspondence manner; when the trolley (23) moves in the horizontal moving channel (22), the four walking wheels (233) form a group in pairs, and the two groups of walking wheels (233) are respectively matched with the two horizontal guide rails (221) in a one-to-one correspondence manner.
8. The buffer device according to claim 7, wherein the traveling wheels (233) are gears, and the vertical guide rail (211) and the horizontal guide rail (221) are racks.
9. An in-out warehouse system, characterized by comprising a buffer device (20) according to any one of claims 1 to 8, the in-out warehouse system further comprising a transfer robot (10), an in-warehouse conveyor line (40) and an out-warehouse conveyor line (30), the transfer robot (10) being used for unloading goods (100) to the trolley (23) or receiving goods (100) conveyed by the trolley (23); the warehousing conveying line (40) and the ex-warehouse conveying line (30) are respectively in one-to-one correspondence with the two vertical moving channels (21), and the warehousing conveying line (40) and the ex-warehouse conveying line (30) can be in butt joint with the horizontal moving channels (22) at the lower ends of the two vertical moving channels (21).
10. The warehousing system according to claim 9, characterized in that said handling robot (10) comprises:
a traveling chassis (11);
a stand (12) provided on the traveling chassis (11);
and a plurality of shelves (13) that are provided on the vertical frame (12) at intervals in the height direction of the vertical frame (12).
11. The system according to claim 10, wherein the shelves (13) comprise two spaced support bars extending in a direction perpendicular to the uprights (12).
12. An warehousing method applied to the warehousing system as claimed in any one of claims 9 to 11, the warehousing method comprising the steps of:
the transfer robot (10) unloads the goods (100) to be delivered to the trolley (23) in the vertical moving channel (21) opposite to the delivery conveying line (30);
the trolleys (23) in the two vertical moving channels (21) move along a circulating channel to exchange positions, and when the trolleys (23) in the vertical moving channel (21) opposite to the delivery conveying line (30) move to the vertical moving channel (21) opposite to the warehousing conveying line (40), the cargos (100) borne by the trolleys are conveyed to the delivery conveying line (30) for delivery, and then the cargos (100) to be warehoused conveyed by the warehousing conveying line (40) are received;
the transfer robot (10) receives the goods (100) on the cart (23) in the vertical moving passage (21) opposite to the warehousing conveyor line (40) and transfers the goods to warehouse.
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| CN113682710B (en) | 2023-08-08 |
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